Offend
Definition 1 of 4
Pro Tip 1/2
Emotional Impact
Using 'offend' implies a personal emotional reaction, rather than a general disapproval or disagreement. His joke didn't just upset me, it offended me because it was personal.
Pro Tip 2/2
Cultural Sensitivity
'Offend' often relates to cultural or personal values being disregarded or mocked. They offended me by disrespecting my cultural traditions.